Software and hardware in the loop simulation of navigation system design based on state observer using Kalman filter for autonomous underwater glider

Abstract

Autonomous underwater glider (AUG) is one of the autonomous underwater vehicle types that move using the law of Archimedes and shifting the center of gravity in the movement. One of the important systems to be developed is the navigation system. In this paper navigation system for AUG will be designed and tested using software in the loop simulation (SILS) and later on using hardware in the loop simulation (HILS). Navigation system testing is done by comparing the computational results of the system designed between SILS with MATLAB Simulink and HILS with the computer board and test the success of the vehicle in correcting the position based on sensor data using HILS navigation system scheme.